@book{Saltaren2006,
author = {Saltar\'{e}n, R. and Almonacid, M. and Azor\'{\i}n, J.M and Sabater, J.M.},
edition = {Draft},
title = {{Rob\'{o}tica: Modelado, Simulaci\'{o}n y Dise\~{n}o con Matlab}},
year = {2006}
}

@article{Walker1982,
author = {M. W. Walker and D. E. Orin},
collaboration = {},
title = {Efficient Dynamic Computer Simulation of Robotic Mechanisms},
publisher = {ASME},
year = {1982},
journal = {Journal of Dynamic Systems, Measurement, and Control},
volume = {104},
number = {3},
pages = {205-211},
url = {http://link.aip.org/link/?JDS/104/205/1},
doi = {10.1115/1.3139699}
}



